version: 66.11
glider: 615
mission: 5
dive: 129
start: 9 28 115 22 23 13
data:
$ID,615
$MISSION,5
$DIVE,129
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18988.781
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,280915,221604,1802.201,8921.280,32,0.7,32,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.8
$GPS2,280915,222247,1802.201,8921.240,4,1.2,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,15.8,8283,-21.4,-9.167,-25.88,2022
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.82,-126.5,187,2218,540,494,0.0,0.0,0,56,0.00,0.00,-39.42,0.000,16386,0.000,0.000,186,2218,1631,1632,1631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,186,2218,1632,1631,3.0,-6.6,6,117,10.70,2.33,-38.35,0.000,18692,0.352,0.082,2664,3594,3390,3402,3378,0,0,0,0,0,0,14.27,14.46,14.78
$GC,150,-0.82,-126.5,2665,3594,3401,3378,30.8,-41.0,21,158,0.00,2.22,0.00,0.000,1030,0.000,0.037,2665,2192,3389,3401,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,340,-0.82,-126.5,2664,2189,3401,3379,86.5,-22.5,58,347,0.00,2.28,0.00,0.000,516,0.000,0.055,2665,814,3389,3401,3378,0,0,0,0,0,0,28.83,14.55,28.83
$GC,451,-0.82,-126.5,2664,814,3402,3379,106.5,-15.7,79,459,0.10,2.17,0.00,0.000,3078,0.291,0.040,2674,2193,3390,3402,3379,0,0,0,0,0,0,14.45,14.66,28.83
$GC,642,-0.82,-126.5,2675,2194,3402,3382,134.9,-14.5,116,649,0.00,2.33,0.00,0.000,260,0.000,0.057,2666,3596,3392,3402,3382,0,0,0,0,0,0,28.83,14.62,28.83
$GC,685,-0.82,-126.5,2666,3597,3402,3382,141.8,-16.1,124,692,0.00,2.25,0.00,0.000,1030,0.000,0.036,2666,2196,3392,3402,3382,0,0,0,0,0,0,28.83,14.66,28.83
$GC,877,-0.82,-126.5,2666,2193,3402,3383,169.2,-13.4,161,885,0.00,2.28,0.00,0.000,260,0.000,0.058,2655,3600,3392,3402,3383,0,0,0,0,0,0,28.83,14.68,28.83
$GC,927,-0.82,-126.5,2655,3599,3402,3383,176.8,-15.3,170,935,0.08,2.25,0.00,0.000,3078,0.209,0.037,2677,2192,3392,3402,3383,0,0,0,0,0,0,14.49,14.66,28.83
$GC,1118,-0.82,-126.5,2677,2190,3402,3383,203.4,-13.9,205,1129,0.00,2.20,0.00,0.000,516,0.000,0.054,2677,813,3392,3402,3383,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1172,-0.82,-126.5,2677,813,3402,3383,210.9,-14.2,215,1181,0.00,2.17,0.00,0.000,1030,0.000,0.040,2669,2201,3392,3402,3383,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1481,-0.82,-126.5,2669,2201,3401,3382,256.2,-14.7,247,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3391,3401,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1782,-0.82,-126.5,2669,2201,3401,3378,300.8,-14.6,277,1786,0.00,2.22,0.00,0.000,516,0.000,0.059,2669,813,3390,3402,3378,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1844,-0.82,-126.5,2669,813,3402,3378,310.0,-14.4,289,1856,0.10,2.20,0.00,0.000,3078,0.280,0.047,2680,2198,3389,3402,3377,0,0,0,0,0,0,14.57,14.76,28.83
$GC,2164,-0.82,-126.5,2680,2198,3401,3374,353.1,-13.3,321,2170,0.00,2.22,0.00,0.000,516,0.000,0.060,2681,820,3387,3401,3373,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2191,-0.82,-126.5,2681,820,3401,3373,357.3,-14.2,327,2196,0.00,2.20,0.00,0.000,1030,0.000,0.047,2672,2198,3387,3401,3373,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2504,-0.82,-126.5,2671,2198,3401,3370,401.1,-14.3,344,2510,0.00,2.22,0.00,0.000,516,0.000,0.060,2672,820,3385,3401,3370,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2526,-0.82,-126.5,2672,820,3401,3370,404.8,-14.5,349,2532,0.05,2.25,0.00,0.000,3078,0.246,0.048,2677,2201,3386,3402,3370,0,0,0,0,0,0,14.54,14.73,28.83
$GC,2845,-0.82,-126.5,2678,2202,3401,3365,448.3,-13.9,367,2851,0.00,2.25,0.00,0.000,516,0.000,0.061,2677,814,3383,3401,3365,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2877,-0.82,-126.5,2678,814,3401,3365,453.1,-13.9,374,2885,0.00,2.28,0.00,0.000,1030,0.000,0.050,2669,2198,3383,3401,3365,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3184,-0.82,-126.5,2669,2198,3401,3361,497.1,-14.5,390,3190,0.00,2.25,0.00,0.000,516,0.000,0.061,2669,810,3380,3401,3360,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3217,-0.82,-126.5,2670,810,3401,3360,502.3,-14.7,397,3222,0.10,2.25,0.00,0.000,3078,0.281,0.050,2681,2211,3380,3401,3360,0,0,0,0,0,0,14.58,14.78,28.83
$GC,3544,-0.82,-126.5,2681,2211,3401,3356,546.7,-13.4,412,3548,0.00,2.28,0.00,0.000,516,0.000,0.062,2680,817,3378,3401,3356,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3601,-0.82,-126.5,2681,817,3401,3356,554.4,-13.6,423,3607,0.00,2.22,0.00,0.000,1030,0.000,0.051,2673,2209,3378,3401,3356,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3930,-0.82,-126.5,2672,2211,3400,3352,600.1,-14.1,439,3936,0.00,2.25,0.00,0.000,516,0.000,0.062,2673,822,3376,3400,3352,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3961,-0.82,-126.5,2673,821,3400,3352,604.4,-14.4,445,3967,0.08,2.22,0.00,0.000,3078,0.304,0.051,2677,2208,3376,3400,3352,0,0,0,0,0,0,14.61,14.80,28.83
$GC,4290,-0.82,-126.5,2676,2209,3398,3351,648.8,-13.5,461,4296,0.00,2.28,0.00,0.000,516,0.000,0.062,2676,814,3375,3399,3351,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4323,-0.82,-126.5,2676,814,3398,3351,653.5,-13.4,468,4327,0.00,2.28,0.00,0.000,1030,0.000,0.051,2668,2204,3374,3398,3351,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4651,-0.82,-126.5,2668,2204,3396,3348,698.3,-13.9,483,4657,0.00,2.28,0.00,0.000,516,0.000,0.064,2668,815,3372,3396,3348,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4724,-0.82,-126.5,2669,814,3396,3348,708.9,-13.5,498,4729,0.10,2.25,0.00,0.000,3078,0.284,0.052,2679,2209,3372,3396,3348,0,0,0,0,0,0,14.59,14.79,28.83
$GC,5042,-0.82,-126.5,2679,2210,3395,3345,748.6,-12.6,511,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2209,3370,3395,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5342,-0.82,-126.5,2680,2209,3394,3344,785.1,-12.0,521,5346,0.00,2.28,0.00,0.000,516,0.000,0.067,2680,823,3369,3394,3344,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5422,-0.82,-126.5,2680,822,3393,3344,795.1,-11.8,537,5426,0.00,2.22,0.00,0.000,1030,0.000,0.052,2672,2200,3369,3394,3344,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5734,-0.82,-126.5,2672,2200,3392,3343,832.4,-12.0,549,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3367,3392,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,-0.82,-126.5,2672,2199,3391,3342,867.4,-11.6,559,6040,0.00,2.28,0.00,0.000,516,0.000,0.070,2672,815,3366,3391,3342,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6094,-0.82,-126.5,2672,815,3391,3342,874.5,-11.3,571,6099,0.08,2.25,0.00,0.000,3078,0.307,0.054,2676,2201,3366,3391,3342,0,0,0,0,0,0,14.59,14.78,28.83
$GC,6426,-0.82,-126.5,2676,2201,3390,3340,911.9,-11.3,587,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2201,3365,3390,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6727,-0.82,-126.5,2676,2201,3389,3338,946.7,-11.7,597,6733,0.00,2.28,0.00,0.000,516,0.000,0.069,2676,823,3363,3389,3338,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6774,-0.82,-126.5,2676,823,3389,3338,952.7,-12.1,607,6778,0.00,2.22,0.00,0.000,1030,0.000,0.055,2669,2197,3363,3389,3338,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,7086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7086,begin apogee
$GC,7089,-0.16,0.0,2669,2198,3388,3337,990.5,-12.3,619,7214,0.80,0.00,118.72,2.321,10246,0.242,0.000,2890,2199,2872,2917,2828,0,0,0,0,0,0,14.47,28.83,13.24
$STATE,7215,end apogee,CONTROL_FINISHED_OK
$STATE,7215,begin climb
$GC,7216,0.82,126.5,2890,2199,2913,2823,995.0,0.0,645,7331,1.02,0.00,109.68,2.232,10502,0.155,0.000,3203,2199,2356,2413,2299,0,0,0,0,0,0,14.00,28.83,13.18
$GC,7626,0.82,126.5,3203,2199,2403,2284,960.9,10.5,677,7632,0.00,2.45,0.00,0.000,516,0.000,0.078,3211,768,2343,2403,2284,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7695,0.82,126.5,3211,768,2403,2284,953.5,10.3,691,7699,0.00,2.28,0.00,0.000,1030,0.000,0.051,3211,2145,2343,2403,2284,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8017,0.82,126.5,3211,2145,2402,2283,920.4,10.4,705,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2145,2342,2402,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8317,0.82,126.5,3211,2145,2401,2282,889.2,10.3,715,8321,0.00,2.35,0.00,0.000,516,0.000,0.078,3220,761,2341,2401,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8366,0.82,126.5,3220,761,2401,2283,883.9,10.2,725,8370,0.00,2.25,0.00,0.000,1030,0.000,0.050,3220,2141,2342,2401,2283,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8679,0.82,126.5,3219,2141,2399,2282,850.7,10.8,737,8685,0.00,2.33,0.00,0.000,516,0.000,0.075,3230,756,2340,2399,2282,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8761,0.82,126.5,3229,755,2399,2282,841.0,11.2,754,8770,0.00,2.30,0.00,0.000,1030,0.000,0.052,3229,2133,2340,2398,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9069,0.82,126.5,3229,2133,2398,2281,806.9,11.2,765,9075,0.00,2.30,0.00,0.000,516,0.000,0.077,3240,765,2340,2399,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9116,0.82,126.5,3240,765,2398,2282,801.1,11.4,775,9121,0.00,2.25,0.00,0.000,1030,0.000,0.051,3240,2152,2339,2398,2281,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9429,0.82,126.5,3239,2152,2397,2281,767.1,10.7,787,9435,0.00,2.33,0.00,0.000,260,0.000,0.077,3240,3544,2338,2396,2280,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9446,0.82,126.5,3240,3544,2397,2281,764.8,11.3,791,9451,0.00,2.25,0.00,0.000,1030,0.000,0.048,3249,2153,2337,2395,2280,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9759,0.82,126.5,3249,2153,2395,2280,730.7,10.9,803,9765,0.00,2.35,0.00,0.000,516,0.000,0.076,3260,742,2338,2396,2280,0,0,0,0,0,0,28.83,14.68,28.83
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$GC,17131,1.33,536.2,3368,2150,1017,907,24.9,5.8,1634,17176,0.00,2.28,38.92,0.208,8452,0.000,0.057,3369,3538,691,749,633,0,0,0,0,0,0,28.83,14.54,14.33
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$STATE,17354,end climb,SURFACE_DEPTH_REACHED
$STATE,17354,begin surface coast
$FINISH,0.3,1.019199
$STATE,17386,end surface coast,CONTROL_FINISHED_OK
$STATE,17386,begin surface
$SM_CCo,17402,26.30,0.137,0,0,509,579.63
$SM_CCo,17431,0.00,0.000,0,0,511,579.63
$SM_CCo,17433,0.35,0.360,0,0,507,579.63
$SM_GC,3.34,8.88,0.08,0.35,0.058,0.181,0.360,172,2215,507,-8.58,-1.47,579.63,0,0,0,0,0,0,14.66,14.61,14.52
$IRIDIUM_FIX,1754.17,8923.72,250708,060610
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.72
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.2,55.410
$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.825,197.075,498.825,26.650,0.000,19.829,27.361,242.004,0.000,0.000,6.807,3411.027,10283.783,650.349,3304.499,176.867,0.000,2076.104,0.000,2471.823,0.000,0.552,0.000
$DEVICE_MAMPS,351.900,181.305,2321.010,360.315,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.302,606.202,1632.044,996.969,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,137561,1681
$CAP_FILE_SIZE,185676,0
$CFSIZE,2097086464,2073100288
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021, 71.6,1
$GPS,290915,031504,1803.997,8921.876,40,0.9,40,-0.9